#pragma config(Sensor, in1,    lineFollowerRIGHT, sensorLineFollower)
#pragma config(Sensor, in2,    lineFollowerCENTER, sensorLineFollower)
#pragma config(Sensor, in3,    lineFollowerLEFT, sensorLineFollower)
#pragma config(Sensor, dgtl1,  rightEncoder,   sensorQuadEncoder)
#pragma config(Sensor, dgtl3,  leftEncoder,    sensorQuadEncoder)
#pragma config(Motor,  port1,           rightMotor,    tmotorVex393, openLoop, reversed)
#pragma config(Motor,  port10,          leftMotor,     tmotorVex393, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int x,y;
int threshold = 2600;

task main()
{



		while (SensorValue[lineFollowerCENTER] <= threshold || SensorValue[lineFollowerRIGHT] <= threshold || SensorValue[lineFollowerLEFT] <= threshold)
		{

			// RIGHT sensor sees dark:
			if(SensorValue(lineFollowerRIGHT) > threshold)
			{
				// counter-steer right:

				motor[leftMotor]  = 63;
				motor[rightMotor] = 30;
			}
			// CENTER sensor sees dark:
			if(SensorValue(lineFollowerCENTER) > threshold)
			{
				// go straight
				motor[leftMotor]  = 63;
				motor[rightMotor] = 63;
			}
			// LEFT sensor sees dark:
			if(SensorValue(lineFollowerLEFT) > threshold)
			{
				// counter-steer left:
				motor[leftMotor]  = 30;
				motor[rightMotor] = 63;
			}
	}
		SensorValue[rightEncoder] = 0;
		SensorValue[leftEncoder] = 0;

		x= SensorValue[leftEncoder];
		y=SensorValue[rightEncoder];

		while (SensorValue[rightEncoder] <= 382 || SensorValue[leftEncoder] >= -382)
		{
			x=SensorValue[leftEncoder];
			y=SensorValue[rightEncoder];
			motor[leftMotor] = -80;
			motor[rightMotor] = 80;
			if(SensorValue[rightEncoder] >= 382) {
				motor[rightMotor] = 0;
			}
			if(SensorValue[leftEncoder] <= -382)
			{
				motor[leftMotor] = 0;
	}
}
}

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
